Systems and methods for using a robotic medical system

ABSTRACT

A support structure for supporting an instrument manipulator comprises a proximal link and a distal link configured to extend from the proximal link. The support structure further comprises a base joint coupling the proximal link of the support structure to a base, and the proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a counterbalance mechanism comprising a counterweight block configured to move linearly within the support structure. The counterweight block has a counterweight mass to counterbalance a combined mass of the support structure and the instrument manipulator as the distal link extends from the proximal link.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application is a continuation of U.S. patent applicationSer. No. 16/471,737, filed Jun. 20, 2019, which is the U.S. nationalphase of International Application No. PCT/US2018/012995, filed Jan. 9,2018, which designated the U.S. and claims priority to and the benefitof the filing date of U.S. Provisional Patent Application 62/444,804,entitled “SYSTEMS AND METHODS FOR USING A ROBOTIC MEDICAL SYSTEM,” filedJan. 10, 2017, all of which are incorporated by reference herein intheir entirety.

FIELD

The present disclosure is directed to systems and methods for using amedical system, and more specifically to systems and methods forcontrolling positioning of a medical instrument used during a minimallyinvasive medical procedure.

BACKGROUND

Minimally invasive medical techniques are intended to reduce an amountof tissue that is damaged during medical procedures, thereby reducingpatient recovery time, discomfort, and harmful side effects. Suchminimally invasive techniques may be performed through natural orificesin a patient anatomy or through one or more surgical incisions. Throughthese natural orifices or incisions, an operator (e.g., a physician) mayinsert minimally invasive medical instruments (including surgical,diagnostic, therapeutic, or biopsy instruments) to reach a target tissuelocation. One such minimally invasive technique is to use a flexibleand/or steerable elongate device, such as a flexible catheter, that canbe inserted into anatomic passageways and navigated toward a region ofinterest within the patient anatomy. Control of such an elongate deviceby medical personnel involves the management of several degrees offreedom including at least the management of insertion and retraction ofthe elongate device as well as steering of the device. In addition,different modes of operation may also be supported.

Some minimally invasive medical instruments may be teleoperated orotherwise computer-assisted. After a medical instrument is attached to ateleoperational manipulator, the manipulator may be teleoperationally ormanually manipulated to adjust the instrument. When adjusting theinstrument, it may be desirable to change the instrument position (e.g.,vertically and/or horizontally) while maintaining a constant orientationof the instrument. For example, the direction of the instrument withrespect to the ground may be maintained while the vertical or horizontalposition of the instrument is adjusted. Versatile systems and methodsare needed to allow instrument adjustment while maintaining instrumentorientation.

SUMMARY

The embodiments of the invention are best summarized by the claims thatfollow the description.

Consistent with some embodiments, a medical system is provided. Thesystem may include a support structure including a proximal link and adistal link. The system may further include a base joint coupling theproximal link of the support structure to a base, and the proximal linkmay be configured to rotate about a first axis associated with the basejoint. The system may further include a linkage mechanism coupling theproximal link to the distal link and an instrument support coupled tothe distal link. The instrument support may have an orientation relativeto the base in a first configuration of the support structure. Thelinkage mechanism may maintain the orientation of the instrument supportrelative to the base as the support structure is moved into a secondconfiguration in which the support structure is rotated relative to thebase about the first axis and the distal link is extended from theproximal link.

Consistent with other embodiments, a medical system is provided. Thesystem may include a support structure including a proximal link, adistal link, and a linkage mechanism coupling the proximal link to thedistal link. The system may further include a base joint coupling theproximal link of the support structure to a base, and the proximal linkmay be configured to rotate about a first axis associated with the basejoint. The system may further include an instrument manipulator formanipulating a medical instrument. The instrument manipulator may becoupled to the distal link, and the instrument manipulator may have anorientation relative to the base in a first configuration of the supportstructure. The system may further include a cart configured to supportthe base and a master control console comprising an input device forcontrolling the instrument manipulator during a medical procedure. Thesystem may further include a plurality of monitors to displayinformation related to the medical procedure. The linkage mechanism maymaintain the orientation of the instrument manipulator relative to thebase as the support structure is moved into a second configuration inwhich the support structure is rotated relative to the base about thefirst axis and the distal link is extended from the proximal link.

Consistent with other embodiments, a support structure for supporting aninstrument manipulator is provided. The support structure may include aproximal link and a distal link, and the distal link may be configuredto extend from the proximal link. The support structure may furtherinclude a base joint coupling the proximal link of the support structureto a base, and the proximal link may be configured to rotate about afirst axis associated with the base joint. The system may furtherinclude a counterbalance mechanism. The counterbalance mechanism mayinclude a counterweight block, which may be configured to move linearlywithin the support structure. The counterweight block may have acounterweight mass to counterbalance a combined mass of the supportstructure and the instrument manipulator as the distal link extends fromthe proximal link.

Consistent with other embodiments, a method includes moving a supportstructure from a first configuration to a second configuration. Themethod further includes maintaining, while moving the support structurefrom the first configuration to the second configuration, an orientationof an instrument manipulator coupled to a distal link of the supportstructure relative to a base. Other embodiments include correspondingcomputer systems, apparatus, and computer programs recorded on one ormore computer storage devices, each configured to perform the actions ofthe methods.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory innature and are intended to provide an understanding of the presentdisclosure without limiting the scope of the present disclosure. In thatregard, additional aspects, features, and advantages of the presentdisclosure will be apparent to one skilled in the art from the followingdetailed description.

BRIEF DESCRIPTIONS OF THE DRAWINGS

FIG. 1 is a simplified diagram of a teleoperated medical systemaccording to some embodiments.

FIG. 2 shows an exemplary medical system as an embodiment of theteleoperated medical system of the present disclosure.

FIGS. 3A-D show exemplary features of portions of a cart according tosome embodiments.

FIGS. 4A-B show exemplary features of a monitor according to someembodiments.

FIGS. 5A-C show exemplary features of a control console according tosome embodiments.

FIGS. 6A and 6B are simplified diagrams of side views of a patientcoordinate space including a medical instrument mounted on an insertionassembly according to some embodiments.

FIG. 7 shows the distal end of the medical instrument of FIG. 6Apositioned within a human lung.

FIGS. 8A-C illustrate a proximal link positioned in exemplaryconfigurations according to some embodiments.

FIG. 9A illustrates an exemplary configuration of a support structureretracted within a channel of a proximal link according to someembodiments.

FIG. 9B illustrates an exemplary configuration of a support structureextended out from a channel of a proximal link according to someembodiments.

FIG. 9C illustrates an exemplary configuration of a support structureadjusted upwards according to some embodiments.

FIG. 9D illustrates an exemplary configuration of a support structureadjusted downwards according to some embodiments.

FIG. 10 illustrates an exemplary configuration of input and output bevelgears, and input and output pinions according to some embodiments.

FIG. 11 illustrates an extension mechanism according to someembodiments.

FIG. 12 illustrates an exemplary counterbalance arrangement according tosome embodiments.

FIG. 13A illustrates an exemplary configuration of a support structureat equilibrium about a pivot point according to some embodiments.

FIG. 13B illustrates an exemplary configuration of the pulley structureaccording to some embodiments.

FIG. 14 illustrates another exemplary configuration of the supportstructure at equilibrium about the pivot point according to someembodiments.

FIG. 15 illustrates another exemplary linkage mechanism includinghydraulic push-pull cylinders according to some embodiments.

FIG. 16 illustrates another exemplary linkage mechanism including aball-screw arrangement according to some embodiments.

FIG. 17 illustrates another exemplary linkage mechanism includinganother chain and pulley arrangement according to some embodiments.

FIG. 18 is a flowchart illustrating a method used to provide guidance inan image guided surgical procedure according to some embodiments.

Embodiments of the present disclosure and their advantages are bestunderstood by referring to the detailed description that follows. Itshould be appreciated that like reference numerals are used to identifylike elements illustrated in one or more of the figures, whereinshowings therein are for purposes of illustrating embodiments of thepresent disclosure and not for purposes of limiting the same.

DETAILED DESCRIPTION

In the following description, specific details are set forth describingsome embodiments consistent with the present disclosure. Numerousspecific details are set forth in order to provide a thoroughunderstanding of the embodiments. It will be apparent, however, to oneskilled in the art that some embodiments may be practiced without someor all of these specific details. The specific embodiments disclosedherein are meant to be illustrative but not limiting. One skilled in theart may realize other elements that, although not specifically describedhere, are within the scope and the spirit of this disclosure. Inaddition, to avoid unnecessary repetition, one or more features shownand described in association with one embodiment may be incorporatedinto other embodiments unless specifically described otherwise or if theone or more features would make an embodiment non-functional.

In some instances well known methods, procedures, components, andcircuits have not been described in detail so as not to unnecessarilyobscure aspects of the embodiments.

This disclosure describes various instruments and portions ofinstruments in terms of their state in three-dimensional space. As usedherein, the term “position” refers to the location of an object or aportion of an object in a three-dimensional space (e.g., three degreesof translational freedom along Cartesian x-, y-, and z-coordinates). Asused herein, the term “orientation” refers to the rotational placementof an object or a portion of an object (three degrees of rotationalfreedom—e.g., roll, pitch, and yaw). As used herein, the term “pose”refers to the position of an object or a portion of an object in atleast one degree of translational freedom and to the orientation of thatobject or portion of the object in at least one degree of rotationalfreedom (up to six total degrees of freedom). As used herein, the term“shape” refers to a set of poses, positions, or orientations measuredalong an object.

FIG. 1 is a simplified diagram of a teleoperated medical system 100according to some embodiments. In some embodiments, teleoperated medicalsystem 100 may be suitable for use in, for example, surgical,diagnostic, therapeutic, or biopsy procedures. As shown in FIG. 1,teleoperated medical system 100 generally includes a manipulatorassembly 102 (which may include teleoperational components) foroperating a medical instrument 104 in performing various procedures on apatient P. Manipulator assembly 102 is mounted to or placed near anoperating table T. A master assembly 106 allows an operator O (e.g., asurgeon, a clinician, or a physician as illustrated in FIG. 1) to viewthe interventional site and to control manipulator assembly 102.

Master assembly 106 may be located at a physician's console which isusually located in the same room as operating table T, such as at theside of a surgical table on which patient P is located. However, itshould be understood that operator O can be located in a different roomor a completely different building from patient P. Master assembly 106generally includes one or more control devices for controllingmanipulator assembly 102. The control devices may include any number ofa variety of input devices, such as joysticks, trackballs, data gloves,trigger-guns, hand-operated controllers, voice recognition devices, bodymotion or presence sensors, and/or the like. To provide operator O astrong sense of directly controlling medical instrument 104 the controldevices may be provided with the same degrees of freedom as theassociated medical instrument 104. In this manner, the control devicesprovide operator O with telepresence or the perception that the controldevices are integral with medical instruments 104. In some embodiments,the master assembly 106 may include a master control console (MCC) 40and a master control stand 42 (which will be discussed further in FIGS.5A-C).

In some embodiments, the control devices may have more or fewer degreesof freedom than the associated medical instrument 104 and still provideoperator O with telepresence. In some embodiments, the control devicesmay optionally be manual input devices which move with six degrees offreedom, and which may also include an actuatable handle for actuatinginstruments (for example, for closing grasping jaws, applying anelectrical potential to an electrode, delivering a medicinal treatment,and/or the like).

Manipulator assembly 102 supports medical instrument 104 and may includea manipulator support assembly (as described in detail below) which hasa kinematic structure of one or more non-servo controlled links (e.g.,one or more links that may be manually positioned and locked in place,generally referred to as a set-up structure). The manipulator assembly102 may also include a flexible instrument manipulator (as described indetail below) which may include an instrument carriage that travelsalong an insertion stage. The flexible instrument manipulator mayoptionally include a plurality of actuators or motors that drive inputson medical instrument 104 in response to commands from the controlsystem (e.g., a control system 112). The actuators may optionallyinclude drive systems that when coupled to medical instrument 104 mayadvance medical instrument 104 into a naturally or surgically createdanatomic orifice. Other drive systems may move the distal end of medicalinstrument 104 in multiple degrees of freedom, which may include threedegrees of linear motion (e.g., linear motion along the X, Y, ZCartesian axes) and in three degrees of rotational motion (e.g.,rotation about the X, Y, Z Cartesian axes). Additionally, the actuatorscan be used to actuate an articulable end effector of medical instrument104 for grasping tissue in the jaws of a biopsy device and/or the like.Actuator position sensors such as resolvers, encoders, potentiometers,and other mechanisms may provide sensor data to medical system 100describing the rotation and orientation of the motor shafts. Thisposition sensor data may be used to determine motion of the objectsmanipulated by the actuators.

Teleoperated medical system 100 may include a sensor system 108 with oneor more sub-systems for receiving information about the instruments ofmanipulator assembly 102. Such sub-systems may include aposition/location sensor system (e.g., an electromagnetic (EM) sensorsystem); a shape sensor system for determining the position,orientation, speed, velocity, pose, and/or shape of a distal end and/orof one or more segments along a flexible body that may make up medicalinstrument 104; and/or a visualization system for capturing images fromthe distal end of medical instrument 104 (which may, in someembodiments, be a catheter system).

Teleoperated medical system 100 also includes a display system 110 fordisplaying an image or representation of the surgical site and medicalinstrument 104 generated by sub-systems of sensor system 108. Displaysystem 110 and master assembly 106 may be oriented so operator O cancontrol medical instrument 104 and master assembly 106 with theperception of telepresence.

In some embodiments, medical instrument 104 may have a visualizationsystem (discussed in more detail below), which may include a viewingscope assembly that records a concurrent or real-time image of asurgical site and provides the image to the operator or operator Othrough one or more displays of medical system 100, such as one or moredisplays of display system 110. The concurrent image may be, forexample, a two or three dimensional image captured by an endoscopepositioned within the surgical site. In some embodiments, thevisualization system includes endoscopic components that may beintegrally or removably coupled to medical instrument 104. However insome embodiments, a separate endoscope, attached to a separatemanipulator assembly (which may be a teleoperational manipulatorassembly) may be used with medical instrument 104 to image the surgicalsite. In some examples, the endoscope may include one or more mechanismsfor cleaning one or more lenses of the endoscope when the one or morelenses become partially and/or fully obscured by fluids and/or othermaterials encountered by the endoscope. In some examples, the one ormore cleaning mechanisms may optionally include an air and/or other gasdelivery system that is usable to emit a puff of air and/or other gassesto blow the one or more lenses clean. Examples of the one or morecleaning mechanisms are discussed in more detail in InternationalPublication No. WO/2016/025465 (filed Aug. 11, 2016) (disclosing“Systems and Methods for Cleaning an Endoscopic Instrument”), which isincorporated by reference herein in its entirety. The visualizationsystem may be implemented as hardware, firmware, software, or acombination thereof which interact with or are otherwise executed by oneor more computer processors, which may include the processors of acontrol system 112.

Display system 110 may also display an image of the surgical site andmedical instruments captured by the visualization system. In someexamples, teleoperated medical system 100 may configure medicalinstrument 104 and controls of master assembly 106 such that therelative positions of the medical instruments are similar to therelative positions of the eyes and hands of operator O. In this manneroperator O can manipulate medical instrument 104 and the hand control asif viewing the workspace in substantially true presence. By truepresence, it is meant that the presentation of an image is a trueperspective image simulating the viewpoint of an operator that isphysically manipulating medical instrument 104.

In some examples, display system 110 may present images of a surgicalsite recorded pre-operatively or intra-operatively using image data fromimaging technology such as, computed tomography (CT), magnetic resonanceimaging (MRI), fluoroscopy, thermography, ultrasound, optical coherencetomography (OCT), thermal imaging, impedance imaging, laser imaging,nanotube X-ray imaging, and/or the like. The pre-operative orintra-operative image data may be presented as two-dimensional,three-dimensional, or four-dimensional (including, e.g., time based orvelocity based information) images and/or as images from models createdfrom the pre-operative or intra-operative image data sets.

In some embodiments, often for purposes of imaged guided surgicalprocedures, display system 110 may display a virtual navigational imagein which the actual location of medical instrument 104 is registered(i.e., dynamically referenced) with the preoperative or concurrentimages/model. This may be done to present the operator O with a virtualimage of the internal surgical site from a viewpoint of medicalinstrument 104. In some examples, the viewpoint may be from a tip ofmedical instrument 104. An image of the tip of medical instrument 104and/or other graphical or alphanumeric indicators may be superimposed onthe virtual image to assist operator O controlling medical instrument104. In some examples, medical instrument 104 may not be visible in thevirtual image.

In some embodiments, display system 110 may display a virtualnavigational image in which the actual location of medical instrument104 is registered with preoperative or concurrent images to present theoperator O with a virtual image of medical instrument 104 within thesurgical site from an external viewpoint. An image of a portion ofmedical instrument 104 or other graphical or alphanumeric indicators maybe superimposed on the virtual image to assist operator O in the controlof medical instrument 104. As described herein, visual representationsof data points may be rendered to display system 110. For example,measured data points, moved data points, registered data points, andother data points described herein may be displayed on display system110 in a visual representation. The data points may be visuallyrepresented in a user interface by a plurality of points or dots ondisplay system 110 or as a rendered model, such as a mesh or wire modelcreated based on the set of data points. In some examples, the datapoints may be color coded according to the data they represent. In someembodiments, a visual representation may be refreshed in display system110 after each processing operation has been implemented to alter datapoints.

Teleoperated medical system 100 may also include control system 112.Control system 112 includes at least one memory and at least onecomputer processor (not shown) for effecting control between medicalinstrument 104, master assembly 106, sensor system 108, and displaysystem 110. Control system 112 also includes programmed instructions(e.g., a non-transitory machine-readable medium storing theinstructions) to implement some or all of the methods described inaccordance with aspects disclosed herein, including instructions forproviding information to display system 110. While control system 112 isshown as a single block in the simplified schematic of FIG. 1, thesystem may include two or more data processing circuits with one portionof the processing optionally being performed on or adjacent tomanipulator assembly 102, another portion of the processing beingperformed at master assembly 106, and/or the like. The processors ofcontrol system 112 may execute instructions comprising instructioncorresponding to processes disclosed herein and described in more detailbelow. Any of a wide variety of centralized or distributed dataprocessing architectures may be employed. Similarly, the programmedinstructions may be implemented as a number of separate programs orsubroutines, or they may be integrated into a number of other aspects ofthe teleoperational systems described herein. In one embodiment, controlsystem 112 supports wireless communication protocols such as Bluetooth,IrDA, HomeRF, IEEE 802.11, DECT, and Wireless Telemetry.

In some embodiments, control system 112 may receive force and/or torquefeedback from medical instrument 104. Responsive to the feedback,control system 112 may transmit signals to master assembly 106. In someexamples, control system 112 may transmit signals instructing one ormore actuators of manipulator assembly 102 to move medical instrument104. Medical instrument 104 may extend into an internal surgical sitewithin the body of patient P via openings in the body of patient P. Anysuitable conventional and/or specialized actuators may be used. In someexamples, the one or more actuators may be separate from, or integratedwith, manipulator assembly 102. In some embodiments, the one or moreactuators and manipulator assembly 102 are provided as part of a cartpositioned adjacent to patient P and operating table T.

Control system 112 may optionally further include a virtualvisualization system to provide navigation assistance to operator O whencontrolling medical instrument 104 during an image-guided surgicalprocedure. Virtual navigation using the virtual visualization system maybe based upon reference to an acquired preoperative or intraoperativedataset of anatomic passageways. The virtual visualization systemprocesses images of the surgical site imaged using imaging technologysuch as computerized tomography (CT), magnetic resonance imaging (MRI),fluoroscopy, thermography, ultrasound, optical coherence tomography(OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-rayimaging, and/or the like. Software, which may be used in combinationwith manual inputs, is used to convert the recorded images intosegmented two dimensional or three dimensional composite representationof a partial or an entire anatomic organ or anatomic region. An imagedata set is associated with the composite representation. The compositerepresentation and the image data set describe the various locations andshapes of the passageways and their connectivity. The images used togenerate the composite representation may be recorded preoperatively orintra-operatively during a clinical procedure. In some embodiments, avirtual visualization system may use standard representations (i.e., notpatient specific) or hybrids of a standard representation and patientspecific data. The composite representation and any virtual imagesgenerated by the composite representation may represent the staticposture of a deformable anatomic region during one or more phases ofmotion (e.g., during an inspiration/expiration cycle of a lung).

During a virtual navigation procedure, sensor system 108 may be used tocompute an approximate location of medical instrument 104 with respectto the anatomy of patient P. The location can be used to produce bothmacro-level (external) tracking images of the anatomy of patient P andvirtual internal images of the anatomy of patient P. The system mayimplement one or more electromagnetic (EM) sensor, fiber optic sensors,and/or other sensors to register and display a medical implementtogether with preoperatively recorded surgical images, such as thosefrom a virtual visualization system, are known. For example U.S. patentapplication Ser. No. 13/107,562 (filed May 13, 2011) (disclosing“Medical System Providing Dynamic Registration of a Model of an AnatomicStructure for Image-Guided Surgery”) which is incorporated by referenceherein in its entirety, discloses one such system. Teleoperated medicalsystem 100 may further include optional operations and support systems(not shown) such as illumination systems, steering control systems,irrigation systems, and/or suction systems. In some embodiments,teleoperated medical system 100 may include more than one manipulatorassembly and/or more than one master assembly. The exact number ofmanipulator assemblies will depend on the surgical procedure and thespace constraints within the operating room, among other factors. Masterassembly 106 may be collocated or they may be positioned in separatelocations. Multiple master assemblies allow more than one operator tocontrol one or more manipulator assemblies in various combinations.

FIG. 2 illustrates a teleoperational medical system 200, as anembodiment of the teleoperated medical system 100. The teleoperationalmedical system 200 can include a master control 218, which may be usedas or in conjunction with the master assembly 106. The teleoperationalmedical system 200 further includes a manipulator assembly 210 (e.g., amanipulator assembly 102) supported on a cart 216. The system 200 alsoincludes a plurality of monitors 212 that may be used as the displaysystem 110.

FIGS. 3A-D illustrate various portions of the cart 216, which maysupport the manipulator assembly 210 and the monitors 212 and may carryvarious components including processors (e.g. of the control system112), vacuum equipment, air canisters, cables, etc. for performingvarious procedures on the patient P. As shown in FIG. 3B, the cart 216may be mounted on a set of wheels 222 such that the cart 216 can bepositioned at a desired location relative to the operating table T andthe patient P. The wheels 222 can be positioned to protrude from thefootprint of a cart body 224 to provide for stability of the system.Referring to FIG. 3A, a handle 220 can be provided at an upper portionof the cart 216 to allow for easy manipulation, and the wheels 222 mayinclude brakes to lock the position of the cart 16 once it is placed atthe desired location. In some embodiments, the handle 220 may be locatedat the front of the cart 216, making the handle 20 readily accessibleduring a medical procedure. In other embodiments, the handle 220 may belocated at the back or sides of the cart 216. The cart 216 can includeone or more doors 226 which can swing open to provide access to internalcomponents 227 including computers. Such access may be needed foroccasional maintenance. In some examples, two doors would provide foraccess from either or both sides of the cart 216 as illustrated in FIG.3C. In some examples, as shown in FIG. 3D, a third door 228 can provideaccess to a gas canister 229 used to provide air for use with instrumentcleaning. The gas canister 229 may be replaced by the hospital, surgeon,clinician, operator O, or any other person on a periodic basis. In someembodiments, the gas canister 229 may be placed in a front portion ofthe cart 216. This may be done to place the gas canister 229 closer to aprobe instrument used for lens cleaning, thereby minimizing the amountof tubing needed for the gas canister 229.

FIGS. 4A-B illustrate an example of a plurality of monitors 212 fordisplay of information used during various procedures on the patient Pas described in regards to display system 110. In some embodiments,different types of information are displayed on different monitors 212.For example, a top monitor 230 can be used to provide navigationalinformation such as the virtual navigational image including a path to atarget and virtual image of the medical instrument. The virtualnavigational image could include an anatomical model with the virtualimage of the medical instrument superimposed based on a real sensedposition of the medical instrument. A bottom monitor 232 can be used toprovide driving views, for example virtual and/or real endoscopic cameraviews as seen from the distal end of the medical instrument. In someexamples, the bottom monitor 232 can be used as a main screen andpositioned so it is most visible to the clinician such that warningswould be displayed on the bottom monitor 232.

In some examples the top monitor 230 and the bottom monitor 232 are eachmounted such that they can be adjusted in the vertical direction,horizontal direction, rotated about a vertical axis, and/or rotatedabout a horizontal axis to position either monitor at the desiredviewing angle from the operator's point of view. A handle 234 can beused to adjust the position of the monitors 212. The handle 234 may bedesigned to allow a person, including operator O, to move the monitors212 with either hand. In some embodiments, the handle 234 may bedesigned in a similar manner as the handle 220 on the cart 216.

The monitors 212 can be rotated such that they can fold for a compactstowed configuration as shown in FIG. 4B. This compact stowedconfiguration can help minimize the chance of damage to the monitors 212as the monitors are moved through doorways, cramped spaces, busypassageways, and/or other similar locations.

FIGS. 5A-C illustrate the master control 218, which can include a mastercontrol console (MCC) 240 which may be mounted to a master control stand242. The MCC 240 may include various input devices for controllingcomponents of the manipulator assembly 210. For example U.S. PatentApplication No. 62/357,272 filed Jun. 30, 2016, titled “SYSTEMS ANDMETHODS OF STEERABLE ELONGATE DEVICE” which is hereby incorporated byreference in its entirety, discloses examples of various MCCs includingsuch input devices. The MCC 240 can be mounted to the master controlstand 242 in a manner which provides for height, pitch, and/or yawadjustments. In some examples, the MCC 240 can include a surfacesupporting wrists of a surgeon or clinician or operator O at anergonomic angle. In some embodiments, the yaw of the MCC 240 is adjustedto an angle for ideal ergonomics. In some embodiments, this may be doneusing dual clutches located underneath the MCC 240. The master controlstand 242 may be mounted on a plurality of wheels 244 allowing the MCC240 to be positioned at a desired location relative to the operatingtable T, within the operating room, or outside the operating room. Insome embodiments, the surgeon, clinician, or operator O can maintain aline of sight to the monitors 212 when operating the master control 218.Additionally, in some embodiments, the surgeon, clinician, or operator Omay move the master control 218 while needing to reach the manipulatorassembly 210 and the patient P.

As shown in FIG. 5B, a base plate 246 may be fixed to a bottom portionof the master control stand 242 to provide stability or to providesupport for various instruments such as a fluoroscope foot pedal. Forexample, when fluoroscopy is to be used during a procedure, it can beconvenient to utilize a foot pedal to activate and deactivatefluoroscopy to allow a surgeon, clinician, or operator O to continuemanipulating the medical instruments without disruption. The surgeon,clinician, or operator O may be able to move the master control 218 andthe foot pedal in tandem. The foot pedal may rest on the base plate 246providing such that it may be easily moved with the MCC 240 to thedesired location in the operating room.

FIGS. 6A and 6B are simplified diagrams of side views of a patientcoordinate space including a medical instrument mounted on an insertionassembly according to some embodiments. In some embodiments, the patientcoordinate space may include a medical instrument system. In someembodiments, the medical instrument system may be used as medicalinstrument 104 in an image-guided medical procedure performed withteleoperated medical system 100. In some examples, the medicalinstrument system may be used for non-teleoperational exploratoryprocedures or in procedures involving traditional manually operatedmedical instruments, such as endoscopy. Optionally, the medicalinstrument system may be used to gather (i.e., measure) a set of datapoints corresponding to locations within anatomic passageways of apatient, such as patient P.

The medical instrument system includes an elongate device, such as aflexible catheter, coupled to a drive unit. The elongate device includesa flexible body having a proximal end and a distal end or tip portion.In some embodiments, the flexible body has an approximately 3 mm outerdiameter. Other flexible body outer diameters may be larger or smaller.

The flexible body includes a channel sized and shaped to receive amedical instrument. The medical instrument can be extended from theflexible body according to some embodiments. In some embodiments, themedical instrument may be used for procedures such as surgery, biopsy,ablation, illumination, irrigation, or suction. The medical instrumentcan be deployed through the channel of the flexible body and used at atarget location within the anatomy. The medical instrument may include,for example, image capture probes, biopsy instruments, laser ablationfibers, and/or other surgical, diagnostic, or therapeutic tools. Medicaltools may include end effectors having a single working member such as ascalpel, a blunt blade, an optical fiber, an electrode, and/or the like.Other end effectors may include, for example, forceps, graspers,scissors, clip appliers, and/or the like. Other end effectors mayfurther include electrically activated end effectors such aselectrosurgical electrodes, transducers, catheters, sensors, and/or thelike. In various embodiments, the medical instrument is a biopsyinstrument, which may be used to remove sample tissue or a sampling ofcells from a target anatomic location. The medical instrument may beused with an image capture probe also within the flexible body. Invarious embodiments, the medical instrument may be an image captureprobe that includes a distal portion with a stereoscopic or monoscopiccamera at or near the distal end of the flexible body for capturingimages (including video images) that are processed by a visualizationsystem for display and/or provided to a tracking system to supporttracking of the distal end and/or one or more of the segments. The imagecapture probe may include a cable coupled to the camera for transmittingthe captured image data. In some examples, the image capture instrumentmay be a fiber-optic bundle, such as a fiberscope, that couples to thevisualization system. The image capture instrument may be single ormulti-spectral, for example capturing image data in one or more of thevisible, infrared, and/or ultraviolet spectrums. Alternatively, themedical instrument may itself be the image capture probe. The medicalinstrument may be advanced from the opening of the channel to performthe procedure and then retracted back into the channel when theprocedure is complete. The medical instrument may be removed from theproximal end of the flexible body or from another optional instrumentport along the flexible body.

In some embodiments, the medical instrument system may include aflexible bronchial instrument, such as a bronchoscope or bronchialcatheter, for use in examination, diagnosis, biopsy, or treatment of alung. The medical instrument system is also suited for navigation andtreatment of other tissues, via natural or surgically created connectedpassageways, in any of a variety of anatomic systems, including thecolon, the intestines, the kidneys and kidney calices, the brain, theheart, the circulatory system including vasculature, and/or the like.

In some examples, the medical instrument system may be teleoperatedwithin medical system 100 of FIG. 1. In some embodiments, manipulatorassembly 102 of FIG. 1 may be replaced by direct operator control. Insome examples, the direct operator control may include various handlesand operator interfaces for hand-held operation of the instrument.

As further shown in FIGS. 6A and 6B, a surgical environment 300 includesa patient P positioned on the table T of FIG. 1. Patient P may bestationary within the surgical environment in the sense that grosspatient movement is limited by sedation, restraint, and/or other means.Cyclic anatomic motion including respiration and cardiac motion ofpatient P may continue, unless patient P is asked to hold his or herbreath to temporarily suspend respiratory motion. Accordingly, in someembodiments, data may be gathered at a specific phase in respiration,and tagged and identified with that phase. In some embodiments, thephase during which data is collected may be inferred from physiologicalinformation collected from patient P. Within surgical environment 300, apoint gathering instrument 304 is coupled to an instrument carriage 306.In some embodiments, point gathering instrument 304 may use EM sensors,shape-sensors, and/or other sensor modalities. Instrument carriage 306is mounted to an insertion stage 308 fixed within surgical environment300. Alternatively, insertion stage 308 may be movable but have a knownlocation (e.g., via a tracking sensor or other tracking device) withinsurgical environment 300. Instrument carriage 306 may be a component ofa manipulator assembly (e.g., manipulator assembly 102, 210) thatcouples to point gathering instrument 304 to control insertion motion(i.e., motion along the A axis) and, optionally, motion of a distal end318 of a medical instrument 310 (or other type of elongate device) inmultiple directions including yaw, pitch, and roll. Instrument carriage306 or insertion stage 308 may include actuators, such as servomotors,(not shown) that control motion of instrument carriage 306 alonginsertion stage 308. In some embodiments, instrument carriage 306together with insertion stage 308 may also be referred to as a flexibleinstrument manipulator (FIM).

Further, medical instrument 310 is coupled to an instrument body 312.Instrument body 312 is coupled and fixed relative to instrument carriage306. In some embodiments, an optical fiber shape sensor 314 is fixed ata proximal point 316 on instrument body 312. In some embodiments,proximal point 316 of optical fiber shape sensor 314 may be movablealong with instrument body 312 but the location of proximal point 316may be known (e.g., via a tracking sensor or other tracking device).Shape sensor 314 measures a shape from proximal point 316 to anotherpoint such as distal end 318 of medical instrument 310. Point gatheringinstrument 304 may be substantially similar to the medical instrumentsystem discussed above.

A position measuring device 320 provides information about the positionof instrument body 312 as it moves on insertion stage 308 along aninsertion axis A. Position measuring device 320 may include resolvers,encoders, potentiometers, and/or other sensors that determine therotation and/or orientation of the actuators controlling the motion ofinstrument carriage 306 and consequently the motion of instrument body312. In some embodiments, insertion stage 308 is linear. In someembodiments, insertion stage 308 may be curved or have a combination ofcurved and linear sections.

FIG. 6A shows instrument body 312 and instrument carriage 306 in aretracted position along insertion stage 308. In this retractedposition, proximal point 316 is at a position L₀ on axis A. In thisposition along insertion stage 308 an A component of the location ofproximal point 316 may be set to a zero and/or another reference valueto provide a base reference to describe the position of instrumentcarriage 306, and thus proximal point 316, on insertion stage 308. Withthis retracted position of instrument body 312 and instrument carriage306, distal end 318 of medical instrument 310 may be positioned justinside an entry orifice of patient P. Also in this position, positionmeasuring device 320 may be set to a zero and/or another reference value(e.g., I=0). In FIG. 6B, instrument body 312 and instrument carriage 306have advanced along the linear track of insertion stage 308, and distalend 318 of medical instrument 310 has advanced into patient P. In thisadvanced position, the proximal point 316 is at a position L₁ on theaxis A. In some examples, encoder and/or other position data from one ormore actuators controlling movement of instrument carriage 306 alonginsertion stage 308 and/or one or more position sensors associated withinstrument carriage 306 and/or insertion stage 308 is used to determinethe position L_(x) of proximal point 316 relative to position L₀. Insome examples, position L_(x) may further be used as an indicator of thedistance or insertion depth to which distal end 318 of medicalinstrument 310 is inserted into the passageways of the anatomy ofpatient P.

FIG. 7 illustrates the medical instrument 310 positioned within ananatomic passageway of a patient anatomy. In this embodiment, theanatomic passageway is an airway of a human lung 350. In alternativeembodiments, the medical instrument 310 may be used in other passagewaysof an anatomy.

In accordance with embodiments described below, it may be advantageousto provide a manipulator assembly 102 that is capable of maintaining adesired orientation of the medical instrument while also enablingvertical and rotational adjustment. The present disclosure proposes thebelow mechanisms to provide for the vertical and rotational adjustmentwhile maintaining a desired orientation of the medical instrument.

Referring again to FIG. 2, the manipulator assembly 210 includes asupport structure 420 moveably mounted to the cart 216. In alternativeembodiments, the manipulator assembly 210 may be mounted to a separatestructure such as an operating table, cabinet, counter, or an additionalcart. At one end (e.g., a proximal end), the support structure 420 maybe mounted to the cart 16 via a shoulder 415 of a base joint 410, and atthe other end (e.g., a distal end), the support structure 420 may becoupled to a distal support 450. The distal support 450 may carry,support, and/or be coupled to various types of components includingtrays, manipulator assemblies, instruments, or any other similarcomponent. More specifically, the distal support 450 may be coupled toan instrument manipulator 417 such as a flexible instrument manipulator(FIM) that may include the instrument carriage 306 and the insertionstage 308 to which the instrument body 312, and therefore the medicalinstrument 310, is coupled. As described in greater detail below, thesupport structure 420 may rotate in pitch and yaw motions about axesassociated with the base joint 410 to allow for instrument adjustment.In addition, the support structure 420 may include a telescoping armthat allows for translational adjustment in both extension andretraction. Thus, as the support structure 420 is rotated relative tothe cart 16 about the base joint 410, the telescoping support structure420 allows translational adjustment of the distal support 450 which canbe coupled to or supporting equipment such as medical instrument 310 toconsistently maintain an orientation of the medical instrument 310 to afixed reference (for example, the ground).

The base joint 410 may be rotatably connected to a flat top surface ofthe cart 16 to allow the base joint 410 to rotate about a vertical axisV1. The shoulder 415 of the base joint 410 may be coupled to the supportstructure 420. The support structure 420 includes a proximal link 430and a telescoping arm or distal link 440. The shoulder 415 of the basejoint 410 may be pivotally coupled to the proximal link 430 of thesupport structure 420, allowing the proximal link 430 of the supportstructure 420 to rotate in a pitch motion 510 about a horizontal axis H1of the base joint 410. The proximal link 430 may rotate 180 degrees orbeyond 180 degrees about the horizontal axis H1.

The distal end of the distal link 440 may be coupled to the distalsupport 450 such that a desired predetermined orientation of the distalsupport is maintained. The distal support 450 may be connected to theinsertion stage 308 through a rotational joint 460, which allows theinsertion stage 308 to rotate relative to the distal support 450. Thesupport structure 420 allows a desired orientation of the distal support450 to be maintained relative to a fixed reference such as the ground,even as the support structure 420 is rotated about the axes V1, H1. Thisallows the coupled medical instrument 310, to be maintained at a desiredorientation. In various embodiments, the desired orientation of themedical instrument 310 may be relative to a predetermined orientation ofthe distal support 450.

FIGS. 8A-C show the support structure 420 positioned in exemplaryconfigurations according to embodiments of the present disclosure. InFIG. 8A, the support structure 420 is shown in a folded and stowedconfiguration. In FIG. 8B, the support structure 420 is shown in anunfolded configuration with the distal link 440 retracted within achannel of the proximal link 430. In FIG. 8C, the support structure 420is shown in an unfolded configuration with the distal link 440 extendedfrom the channel of the proximal link 430.

As seen from FIGS. 8A-C, the support structure 420 including theproximal link 430 and the connected distal link 440, may rotate in thepitch motion 510 about the horizontal axis H1 of the base joint 410 (seeFIG. 2). In various embodiments, the support structure 420 including theproximal link 430 and the distal link 440, may rotate 180 degrees orbeyond 180 degrees. The distal link 440 may be extended out from achannel of the proximal link 430, as shown in FIG. 8C. In variousembodiments, the proximal link 430 and the connected distal link 440 mayrotate in the yaw motion 520 about the vertical axis V1 of the basejoint 410 in a 360 degree range. The base joint 410 and/or the proximallink 430 may include brakes to restrict motion about the axes H1, V1. Insome embodiments, brakes may be engaged or released manually bydepressing a button or switch, allowing the support structure 420 to bemanually positioned and locked. In various embodiments, the proximallink 430 and the distal link 440 may be positioned using electroniccircuitry and controls, including motors to avoid manual intervention.In some examples, a motor positioned within the base joint 410 or withinthe cart 16 can be used to direct drive or drive the rotation of thesupport structure 420 using any combination of gears, pulleys, and/orbelts to position the support structure 420. In some embodiments, thesupport structure 420 may be designed for easy stowing of theteleoperational manipulator assembly 400. In various embodiments, theteleoperational manipulator assembly 400 can, in one motion, be stowedso that the FIM 417 sits on top of the cart 16.

As shown in FIGS. 8A-C, a consistent orientation of the distal support450 may be maintained with all configurations of the support structure420. For instance, in FIGS. 8A-C, the orientation of the distal support450 is maintained parallel to ground in all configurations of thesupport structure 420. When positioning the FIM 417 during the medicalprocedure, the support structure 420 allows the distal support, andtherefore the FIM 417 and the medical instrument 310, to remain in thedesired predetermined orientation, regardless of the vertical,horizontal, and rotational adjustments of the support structure 420.

FIGS. 9A-D illustrate, inter alia, a linkage mechanism 600, e.g. aparallel linkage mechanism that allows maintenance of the desiredorientation of the distal support 450 during rotation and extension ofthe support structure 420. In this embodiment, the parallel linkagemechanism 600 includes an input gear 610 (which may also be an inputbevel gear), an output gear 630 (which may also be an output bevelgear), an input pinion 620 (which may also be an input pinion gear), anoutput pinion 640 (which may also be an output pinion gear), and anextension mechanism 650 which mechanically maintains the desiredpredetermined orientation (e.g., parallel to the ground) of the distalsupport 450 during vertical, horizontal, or rotational adjustment of thesupport structure 420 (which may include the proximal link 430 and thedistal link 440). As an operator O adjusts the proximal link 430 (and/orthe distal link 440) to raise or lower the distal support 450, thedistal support 450 remains in its desired predetermined orientation. Insome embodiments, a brake (not shown), such as a magnetic brake, may beprovided which locks telescoping motion of the distal link 440 relativeto the proximal link 430 when the support structure 420 is positioned ata desired location. The brake could be fixed to the distal link 440 andwhen activated would prevent telescoping movement by locking to amagnetic strip (not shown) fixedly positioned within the proximal link430.

FIGS. 9A and 9B show exemplary embodiments of the support structure 420according to the present disclosure. FIG. 9A shows an exemplaryembodiment of the support structure 420 with the distal link 440retracted within a channel 435 of the proximal link 430. In someembodiments, the distal link 440 may be coupled to the proximal link 430using a plurality of linear bearings on slide rails. The proximal link430 may include an input bevel gear 610 and an input pinion 620. Thedistal link 440 may include an output bevel gear 630 and an outputpinion 640. The input pinion 620 may be connected to the output pinion640 via an extension mechanism 650 including a spline 652 (which mayalso be a sliding spline) and a tubular member 654 (which may also be aninner tube). The tubular member 654 may extend at least partially overthe spline 652 while allowing the spline 652 to linearly retract withinand extend from the tubular member 654. As shown, the toothed gear faceof the input bevel gear 610 faces the opposite direction of the toothedgear face of the output bevel gear 630 and the gears 610, 630 arepositioned on opposite sides of the extension mechanism 650. FIG. 9Bshows an exemplary embodiment of the support structure 420 with thedistal link 440 extended from the channel 435 of the proximal link 430.In the exemplary embodiment shown in FIG. 9B, the support structure 420is shown with the spline 652 extended from the tubular member 654.

The extension mechanism 650 is also configured to rotate about alongitudinal axis L1 (see FIG. 11) passing longitudinally through thespline 652 and the tubular member 654. The input bevel gear 610 may befixedly connected to the shoulder 415 of the base joint 410. The inputbevel gear 610 may be rotationally stationary about horizontal axis H1,and may serve as a reference for rolling motion of the input pinion 620.As the proximal link 430 (and the distal link 440) rotates in the pitchmotion 510 about the horizontal axis H1, the input pinion 620 rollsalong the input bevel gear 610 (orbiting the axis H1) in a connectedarrangement, and the extension mechanism 650 rotates about itslongitudinal axis L1. To facilitate the motion between the input bevelgear 610 and the input pinion 620, the input bevel gear 610 and theinput pinion 620 may include cogs or teeth with equal pitches.

The output bevel gear 630 may be fixedly connected to the distal support450. The fixed connection may be achieved with screws 635 to fixedlyconnect the output bevel gear 630 to the distal support 450, but otherfastening mechanisms or an integral connection of the output bevel gear630 and distal support 450 may also be suitable. The output bevel gear630 is rotationally stationary about its own horizontal axis H2 and mayrotate (i.e., orbit) about the horizontal axis H1 and around the inputbevel gear 610 as the support structure 420 moves upwards or downwardsin the pitch motion 510. The output bevel gear 630 may also serve as areference for rolling motion of the output pinion 640. In other words,as the proximal link 430 (and the distal link 440) rotates in the pitchmotion 510 about the horizontal axis H1 of the base joint 410, theextension mechanism 650 rotates about its longitudinal axis L1 and theoutput pinion 640 rolls along the output bevel gear 630. To facilitatethe motion between the output bevel gear 630 and the output pinion 640,the output bevel gear 630 and the output pinion 640 may include cogs orteeth with equal pitches.

FIGS. 9C and 9D show exemplary embodiments of movement of the supportstructure 420 in the pitch motion 510 about the horizontal axis H1. FIG.9C shows an exemplary embodiment with the support structure 420 angledupward. FIG. 9D shows an exemplary embodiment with the support structure420 angled downward. In each of the embodiments shown in FIGS. 9A-D, anorientation of the distal support 450 is consistently maintained. Asshown in FIGS. 9A-D, a horizontal surface 451 of the distal support 450remains parallel to a top surface of the cart 16 or parallel to theground through all of the pitch orientations of the support structure420. This allows the coupled instrument body 312, and therefore themedical instrument 310, to be maintained at a desired or predeterminedorientation.

In various embodiments, the pitches of teeth of the input bevel gear 610may substantially be the same as or different from the pitches of teethof the output bevel gear 630. Similarly, the pitches of teeth of theinput pinion 620 may substantially be the same as or different from thepitches of teeth of the output pinion 640. In various embodiments, thesizes of the input bevel gear 610 and the output bevel gear 630 maysubstantially be the same or different with respect to each other, andthe sizes of the input pinion 620 and the output pinion 640 maysubstantially be the same or different with respect to each other.

FIG. 10 shows an exemplary configuration of the input and output bevelgears 610, 630 and the input and output pinions 620, 640 according to anembodiment of the present disclosure. In this configuration, the sizesof the input bevel gear 610 and the output bevel gear 630 aresubstantially the same, and the sizes of the input pinion 620 and theoutput pinion 640 are substantially the same. Also, the pitches of theteeth of the input bevel gear 610, the output bevel gear 630, the inputpinion 620, and the output pinion 640 are substantially the same tofacilitate the rolling motions of the pinions on the bevel gears. Due tothe similarity in the sizes and the pitches of the bevel gears and thepinions, the pinions may roll along the respective bevel gears at thesame rate. As seen in FIG. 10, the input bevel gear 610 and the outputbevel gear 630 may be disposed on opposite sides of the extensionmechanism 650, and the output pinion 640 may be connected to the inputpinion 620 by the extension mechanism 650.

In this exemplary configuration, as the proximal link 430 and the distallink 440 are rotated upwards (see FIG. 9C), the extension mechanism 650rotates about its longitudinal axis L1, as shown by arrow 750. When theinput bevel gear 610 is rotationally stationary about its horizontalaxis H1 and the output bevel gear 630 is rotationally stationary aboutits horizontal axis H2 but rotational (e.g., orbital) about thehorizontal axis H1, the input pinion 620 rolls along the input bevelgear 610 in the direction shown by arrow 720 while the output pinion 640rolls along the output bevel gear 630 in the direction shown by arrow730. The input pinion 620 rolls along the input bevel gear 610 at thesame rate at which the output pinion 640 rolls along the output bevelgear 630. Similarly, as the proximal link 430 and the distal link 440are angled downwards (see FIG. 9D), the extension mechanism 650 rotatesabout its longitudinal axis L1, as shown by arrow 710. The input pinion620 rolls along the input bevel gear 610 in the direction shown by arrow760 while the output pinion 640 rolls along the output bevel gear 630 inthe direction shown by arrow 770. Again, the input pinion 620 rollsalong the input bevel gear 610 at the same rate at which the outputpinion 640 rolls along the output bevel gear 630.

Regardless of whether the support structure 420 (which may include theproximal link 430 and the distal link 440) is adjusted upwards ordownwards, and regardless of the directions in which the input andoutput pinions 620, 640 roll over the input and output bevel gears 610,630, respectively, the orientation of the output bevel gear 630 ismaintained because the output bevel gear 630 is rotationally stationarywith respect to its own horizontal axis H2. In other words, regardlessof whether the output bevel gear 630 moves upwards or downwards (in acircular path) with respect to the input bevel gear 610, the orientationof the output bevel gear 630 is maintained. Because the output bevelgear 630 is fixedly connected to the distal support 450, the orientationof the distal support 450 is also maintained regardless of the vertical,horizontal, or rotational adjustment of the support structure 420.

The above arrangement of the bevel gears 610, 630, pinions 620, 640, andextension mechanism 650 serves as a parallel linkage mechanism (e.g.,parallel linkage mechanism 600) which mechanically maintains the desiredpredetermined orientation (e.g., parallel to the ground) of the distalsupport 450 during vertical, horizontal, or rotational adjustment of thesupport structure 420. As an operator O adjusts the proximal link 430(and/or the distal link 440) to raise or lower the distal support 450,the distal support 450 remains in its desired predetermined orientation.

The parallel linkage mechanism 600 is effective in maintainingparallelism even as the extension mechanism 650 enables the distal link440 to extend from and retract within the channel 435 of the proximallink 430. As shown in FIG. 11, the spline 652 extends into and ismovable within a passage 655 in tubular member 654 to allow the lengthof the extension mechanism 650 to vary (e.g., retract or extend). Invarious embodiments, the spline 652 may be tubular or may be a solidrod. In various embodiments, the tubular member 654 may be tubular alongonly a partial length or tubular along an entire length. In variousembodiments, the spline 652 is axially coupled to the tubular member 654by a stop mechanism (not shown) such that the spline 652 may linearlymove to extend from and retract within the passage 655 withoutdisconnecting from the tubular member 654. In various embodiments, thespline 652 may be provided with grooves 830 along its length, and thetubular member 654 may include protrusions, including for examplebearings, that mate with and move within the grooves to enable linearmovement of the spline 652 during the retraction and extension. The useof bearings may provide a substantially frictionless interface betweenthe spline and the tubular member 654. The grooves 830 and the matedprotrusions may also prevent the spline 652 from rotating relative tothe tubular member 654. As the spline 652 linearly moves to retractwithin the tubular member 654, the distal link 440 retracts within thechannel 435 of the proximal link 430 (see FIG. 9A). Similarly, as thespline 652 linearly moves to extend out from the tubular member 654, thedistal link 440 extends from the channel 435 of the proximal link 430(see FIG. 9B). In various embodiments, the grooves may be in the tubularmember, and the projections, including any bearings, may extend from thespline.

The rotational motion of the spline 652 is coupled to the rotationalmotion of the tubular member 654 such that the spline 652 and thetubular member 654 rotate about the longitudinal axis L1 at the samerate. As a result, the input pinion 620 connected to the tubular member654 rotates at the same rate as the output pinion 640 connected to thespline 652. For instance, with respect to FIG. 10, the spline 652 andthe tubular member 654 rotate in the direction shown by arrow 750 whenthe support structure 420 is adjusted upwards (see FIG. 9C). Also, thespline 652 and the tubular member 654 rotate in the direction shown byarrow 710 when the support structure 420 is adjusted downwards (see FIG.9D). In this way, this exemplary configuration of the extensionmechanism 650 enables the orientation of the above discussed parallellinkage mechanism 600 and the above discussed distal support 450 to bemaintained during the linear and vertical movements of the supportstructure 420.

FIG. 15 shows another exemplary linkage mechanism 1200, e.g., a parallellinkage mechanism that uses hydraulic push-pull cylinders, according toan embodiment of the present disclosure. The parallel linkage mechanism1200 includes two cylinders 1210, 1230 including respective pistons1220, 1240. In place of the input and output bevel gears, the presentembodiment may include input and output disks. Similar to the inputbevel gear 610 (see FIG. 9A), an input disk 1216 may be rotationallystationary about its own horizontal axis H1. Similar to the output bevelgear 630 (see FIG. 9A), the output disk 1218 may be rotationallystationary about its own horizontal axis H2, but may rotate orbitallyabout horizontal axis H1. A distal support 1252 may be fixedly connectedto the output disk 1218 similar to the way the distal support 450 (seeFIG. 9A) is fixedly connected to the output bevel gear 630 (see FIG.9A). In various embodiments, similar to the embodiment shown in FIG. 10,the input and output disks 1216, 1218 may be disposed on opposite sidesof the cylinders 1210, 1230.

Cylinder 1210 may be connected to the output disk 1218 in a distal link1254 via a distal hinged connection 1250, and the corresponding piston1220 may be connected to the input disk 1216 in a proximal link 1256 viaa hinged connection 1270. A shoulder 1258 may be pivotally coupled tothe proximal link 1256, allowing the proximal link 1256 to rotate in apitch motion 1259 about a horizontal axis H1. Cylinder 1230 may beconnected to the input disk 1216 in the proximal link 1256 via a hingedconnection 1280, and the corresponding piston 1240 may be connected tothe output disk 1218 in the distal link 1254 via a hinged connection1260. As discussed below, when the distal link 1254 extends and retractswithin the proximal link 1256, the cylinders 1210, 1230 remain parallelto each other throughout the movements, and the distance between theinput and output disks 1216, 1218 changes according to the motion of thedistal link 1254. For example, in one exemplary embodiment, if thesupport structure rotates counter-clockwise about the horizontal axisH1, the piston 1220 would retract into the cylinder 1210. At the sametime, during the rotation of the support structure counter-clockwiseabout the horizontal axis H1, the piston 1240 would extend out from thecylinder 1230. In addition to the extension and retraction, when theparallel linkage mechanism 1200 rotates in the pitch motion 510 (seeFIGS. 8A-C) about the horizontal axis H1, the hinged connections 1250,1260, 1270, 1280 flex to maintain the desired orientation of distalsupport 1252 connected to the output disk 1218.

The cylinder 1210 may include chambers 1212, 1214 housing anincompressible fluid. Similarly, the cylinder 1230 may include chambers1232, 1234 also having the same or a different incompressible fluid.Chamber 1212 may be cross-connected with chamber 1234 via across-connection tube 1292, and chamber 1214 may be cross-connected withchamber 1232 via a cross-connection tube 1290, as shown in FIG. 15, toenable the push-pull configuration.

When the distal link 1254 extends from the proximal link 1256, piston1220 extends out from the cylinder 1210, thereby increasing the volumein chamber 1212 and decreasing the volume in chamber 1214. At the sametime, piston 1240 also extends out from cylinder 1230, therebyincreasing the volume in chamber 1232 and decreasing the volume inchamber 1234. During the extension, the incompressible fluid in chamber1214 is transferred into chamber 1232 via the cross-connection tube1290, and the incompressible fluid in chamber 1234 is transferred intochamber 1212 via the cross-connection tube 1292. In this way, thecylinders 1210, 1230 in the push-pull configuration maintain equallengths and maintain the orientation of input disk 1216 with respect tooutput disk 1218. In addition, when the support structure (which may besimilar to the support structure 420 in FIG. 9A) rotates in the pitchmotion 510 (see FIGS. 8A-C) about the horizontal axis H1, the hingedconnections 1250, 1260, 1270, 1280 flex to maintain the orientation ofthe output disk 1218 (which is rotationally stationary about its ownhorizontal axis H2). For example, in one exemplary embodiment, if thesupport structure rotates counter-clockwise about the horizontal axisH1, the piston 1220 would retract into the cylinder 1210. At the sametime, during the rotation of the support structure, the piston 1240would extend out from the cylinder 1230. In this way, the hingedconnections 1250, 1260, 1270, 1280 and/or the cylinders 1210, 1230 allowthe desired predetermined orientation of the distal support 1252 (whichis fixedly connected to the output disk 1218) to be maintained.

When the distal link 1254 retracts within the proximal link 1256, piston1220 also retracts in the cylinder 1210, thereby decreasing the volumein chamber 1212 and increasing the volume in chamber 1214. At the sametime, piston 1240 retracts in cylinder 1230, thereby decreasing thevolume in chamber 1232 and increasing the volume in chamber 1234. Duringthe retraction, the incompressible fluid in chamber 1212 is transferredinto chamber 1234 via the cross-connection tube 1292, and theincompressible fluid in chamber 1232 is transferred to chamber 1214 viathe cross-connection tube 1290. In this way, the cylinders 1210, 1230with pistons 1220, 1240 in the push-pull configuration maintain thedistance between the hinged connections 1250, 1270 equal to the distancebetween hinged connections 1260, 1280 of the input disk 1216 and theoutput disk 1218. In addition, when the support structure (which may besimilar to the support structure 420 in FIG. 9A) rotates in the pitchmotion 510 (see FIGS. 8A-C) about the horizontal axis H1, the hingedconnections 1250, 1260, 1270, 1280 flex to maintain the desiredorientation of the output disk 1218 (which is rotationally stationaryabout its own horizontal axis H2). In this way, the hinged connections1250, 1260, 1270, 1280 allow the desired predetermined orientation ofthe distal support 1252 (which is fixedly connected to the output disk1218) to be maintained.

The above parallel linkage mechanism 1200, including the hydrauliccylinders 1210, 1230 in the push-pull configuration, allow the extensionand retraction movement of the distal link 1254 while maintaining theorientation of the distal support 1252, and, therefore, the desiredpredetermined orientation of the medical instrument 310 (see FIGS.6A-B).

FIG. 16 shows another exemplary linkage mechanism 1300, e.g., a parallellinkage mechanism including a ball-screw arrangement, according to anembodiment of the present disclosure. The parallel linkage mechanism1300 may include two ball-screw drives 1310, 1340. The ball-screw drive1310 may include a ball-screw 1330 assembled with an extended ball nut1320, and the ball-screw drive 1340 may include a ball-screw 1360assembled with an extended ball nut 1350. These ball-screw assembliesare configured to convert linear motion of the ball-screws drives 1310,1340 into rotary motion, and vice versa. For instance, linear motion ofthe ball-screws 1330, 1360 in and out of the extended ball nuts 1320,1350, may cause the extended ball nuts 1320, 1350 to rotate in a rotarymotion. Similarly, rotary motion of the extended ball nuts 1320, 1350about their respective longitudinal axes may cause in and out linearmotion of the ball-screws 1330, 1360. The interfaces between theball-screws 1330, 1360 and the extended ball nuts 1320, 1350 may includeball bearings (this is what a ball screw is rather than an extra featureadded to something that is already a ball screw), which allow lowfriction movement within the ball-screw drives 1310, 1340.

The extended ball nuts 1320, 1350 may be connected to each other via aflexible shaft 1370 to couple the rotary motion of the extended ballnuts 1320, 1350 with respect to each other. For instance, the flexibleshaft 1370 may enable the extended ball nuts 1320, 1350 to rotate at thesame rate with respect to each other. In various embodiments, a pitchdirection associated with the extended ball nut 1320 may be reversedwith respect to a pitch direction associated with the extended ball nut1350. This would enable the extended ball nut 1320 to rotate in theopposite direction with respect to the direction of rotation of theextended ball nut 1350.

As shown in FIG. 16, each of the ball-screw drives 1310, 1340 may beconnected to the input disk 1322 (which in various embodiments may be aninput bevel gear, which may be similar to input bevel gear 610 in FIG.9A) and to the output disk 1324 (which in various embodiments may be anoutput bevel gear, which may be similar to output bevel gear 630 in FIG.9A) to form the parallel linkage mechanism 1300. In various embodiments,the extended ball nut 1320 of the ball-screw drive 1310 may be connectedto the input disk 1322 at joint 1380 by using one end of a joint plate1390, and the extended ball nut 1350 of the ball-screw drive 1340 may beconnected to the input disk 1322 at joint 1382 by using another end ofthe joint plate 1390. Similarly, the ball-screw 1330 of the ball-screwdrive 1310 may be connected to the output disk 1324 at joint 1384 byusing one end of a joint plate 1392, and the ball-screw 1360 of theball-screw drive 1340 may be connected to the output disk 1324 at joint1386 by using another end of the joint plate 1392.

As the distal link 1354 (which may be similar to distal link 440 in FIG.9A) extends from or retracts within the channel 1362 (which may besimilar to channel 435 in FIG. 9A) of the proximal link 1356 (which maybe similar to proximal link 430 in FIG. 9A), the ball-screws 1330, 1360linearly move out from or move within the extended ball nuts 1320, 1350,respectively. This linear motion is converted into rotary motion of theextended ball nuts 1320, 1350 about their respective longitudinal axesby the flexible shaft 1370. For instance, the flexible shaft 1370enables the extended ball nut 1320 to rotate at the same rate as theextended ball nut 1350. Also, the reverse pitch directions enable theextended ball nuts 1320, 1350 to rotate in opposite directions withrespect to each other. Because of the equal linear motion of theball-screws 1330, 1360 and the equal rotary motion of the extended ballnuts 1320, 1350, the ball-screw drives 1310, 1340 are effectivelyconstrained to remain at the same length throughout the extension orretraction motion of the distal link 1354, thus maintaining the parallellinkage.

In various embodiments, the joints 1380, 1382 connecting the extendedball nuts 1320, 1350 to the input disk 1322, and the joints 1384, 1386connecting the ball-screws 1330, 1360 to the output disk 1324 mayinclude hinged joints. When the support structure (which may be similarto support structure 420 in FIG. 9A) is moved upward or downward torotate in the pitch motion 510 (see FIGS. 8A-C) about the horizontalaxis H1, the hinged joints flex to maintain the desired orientation ofthe output disk 1324, and therefore the fixedly connected distal support1352 maintains a similar desired orientation. In this way, the parallellinkage mechanism 1300 maintains the parallelism between the ball-screwdrives 1310, 1340 during the above rotational and extension/retractionmotions of the support structure.

FIG. 17 shows another exemplary linkage mechanism 1500, e.g., a parallellinkage mechanism including a chain and pulley configuration, accordingto an embodiment of the present disclosure. The parallel linkagemechanism 1500 may include a chain 1510. In some embodiments, the chain1510 may be metal (e.g., a metal with high stiffness). In otherembodiments, the chain 1510 may be made of any other flexible butgenerally inelastic material. The chain 1510 may be coupled to an outeredge of four pulleys 1540, 1550, 1560, 1570 in the configuration shownin FIG. 17. The chain 1510 may also be coupled to an outer edge of aninput pulley 1520 and an outer edge of an output pulley 1530 in theconfiguration shown in FIG. 17. In various embodiments, the chain 1510may be coupled to the pulleys 1540, 1550, 1560, 1570, the input pulley1520, and the output pulley 1530 in a double-wrapped manner so as toprovide, for example, additional stiffness of the chain 1510. Similar tothe input bevel gear 610 (see FIG. 9A), the input pulley 1520 may berotationally stationary about its own horizontal axis H1. Similar to theoutput bevel gear 630 (see FIG. 9A), the output pulley 1530 may berotationally stationary about its own horizontal axis H2, but may rotateorbitally about horizontal axis H1. A distal support 1552 may be fixedlyconnected to the output pulley 1530 similar to the way the distalsupport 450 (see FIG. 9A) is fixedly connected to the output bevel gear630 (see FIG. 9A).

As shown in FIG. 17, the input pulley 1520 is coupled to a proximal link1556. In an exemplary embodiment, the output pulley 1530 is coupled to adistal link 1554. In various embodiments, the input pulley 1520 may becoupled to the proximal link 1556 at a shoulder 1558 of a base joint ofa support structure (which may be similar to support structure 420 inFIG. 9A). Additionally, a distal end of the distal link 1554 may befixedly coupled to the distal support 1552 (which may be similar to thedistal support 450 in FIG. 9A). In an exemplary embodiment, as theparallel linkage mechanism 1500 rotates in the pitch motion 510 (seeFIGS. 8A-C) about the horizontal axis H1, the chain 1510 provides a 1:1rotation. As such, as the parallel linkage mechanism 1510 rotates in thepitch motion 510 about the horizontal axis H1, the input pulley 1520rotates, and the output pulley 1530 rotates an equivalent degree ofrotation. This equivalent rotation between the input pulley 1520 and theoutput pulley 1530 maintains a desired orientation of the distalinstrument support 1552 (e.g., parallel to the ground).

As shown in FIG. 17, the pulleys 1560, 1570 may be fixedly coupled to acounterweight block 1580 (which may be similar to the counterweightblock 920 in FIG. 12). In various embodiments, the counterweight block1580 may move toward a pivot point C (see FIG. 12—the counterweightblock 1580 and other aspects of a counterbalance arrangement will befurther discussed with respect to FIGS. 12-14 below). As thecounterweight block 1580 moves toward the pivot point C (see FIG. 12),the pulleys 1560, 1570 may move toward the pivot point C along with thecounterweight block 1580 due to the fixed connection. As such, in anexemplary embodiment, the chain 1510 does not provide additional lengtheven during the linear movement of the pulleys 1560, 1570 and thecounterweight block 1580. This lack of additional length in the chain1510 helps maintain a desired orientation of the distal instrumentsupport 1552 (e.g., parallel to the ground).

Additionally, in some embodiments, as the distal link 1554 extends fromor retracts within a channel 1562 of the proximal link 1556, a lineardistance between input pulley 1520 and output pulley 1530 increases.Also, in an exemplary embodiment, as the distal link 1554 extends fromor retracts within the channel 1562 of the proximal link 1556, thepulleys 1560, 1570 (which are fixedly connected to the counterweightblock 1580) translate toward the input pulley 1520. The length of thechain 1510 between the pulleys 1560, 1570 and the pulleys 1540, 1550decreases, which increases the length of the chain 1510 between thepulleys 1540, 1550 and the output pulley 1530. As such, the parallellinkage mechanism 1500 may, in some embodiments, extend or retractwithin the channel 1562 without causing rotation of the output pulley1530 in the pitch motion 510 (see FIGS. 8A-C) relative to the inputpulley 1520.

All parallel linkage mechanisms discussed above are compatible with andmay be provided in combination with the below discussed mechanisms thatenable provision of a counter balance.

The various mechanisms that enable provision of a counter balance tobalance a change in center of mass associated with rotation of atelescoping support structure (e.g., support structure 420) will now bedescribed. As discussed above, the support structure 420 (which mayinclude the proximal link 430 and the distal link 440) may rotate in thepitch motion 510 about the horizontal axis H1, and in the yaw motion 520about the vertical axis V1 (see FIGS. 8A-C). In addition, the distallink 440 of the support structure 420 may retract within and extend fromthe channel 435 of the proximal link 430. Because the distal support 450is connected to the output bevel gear 630 of the distal link 440, thedistal support 450 also moves as the distal link 440 rotates about theaxes H1, V1, extends, and retracts. The rotation, extension, and/orretraction discussed above causes the center of mass of the telescopingsupport structure (e.g., support structure 420) to shift. Additionally,during the rotation, extension, and/or retraction discussed above, thedistal support 450 may further imbalance the system because the distalsupport 450 is connected to the FIM 417, which, together with thesupport structure 420, can weigh, for example, about 20 kg.

In an exemplary embodiment, as the distal link 440 extends from thechannel 435 of the proximal link 430, the distal support 450 connectedto the FIM 417 also extends. During this extension, a lever armsupporting the weight of the FIM 417 increases, which may cause thelever arm to apply more force to the support structure 420. The highestforce may be applied at the most distal portion of the FIM 417, and theamount of force may scalingly decrease in the direction from the distalsupport 450 to the base joint 410 (see FIGS. 8A-C) along the supportstructure 420 until reaching a pivot point of the support structure 420(e.g., the pivot point C in FIG. 12). A counter balance that is slidablealong the length of the support structure 420 may be needed tocounteract the force applied by the lever arm.

A counterbalance mechanism may be provided to counter the imbalancecreated by the above movements of the support structure 420 and the FIM417. The present disclosure contemplates providing spring-loading in thebase joint 410 in combination with a counter block (discussed below),which moves along a length of the distal link 440 to counterbalance themovement of the FIM 417 and the support structure 420. In variousembodiments, the base joint 410 may be spring-loaded either directly orvia a lever arm connected to a cable and a spring housed within the cart16.

FIG. 12 shows an exemplary counterbalance arrangement according to anembodiment of the present disclosure. A rotational center is located ata pivot point C of the base joint 410, through which horizontal axis H1passes, may serve as the pivot point for the support structure 420(which may include the proximal link 430 and the distal link 440). Thesystem may be considered as being at equilibrium at the pivot point Cwhen the distal link 440 is completely retracted within channel 435 ofthe proximal link 430, as shown in FIG. 12. This equilibrium may belost, and the system may become increasingly imbalanced as the distallink 440 progressively extends out from the channel 435 of the proximallink 430 because the center of mass of the support structure 420 isshifted. To maintain equilibrium at pivot point C, the effects ofgravity on the moving support structure 420 may be balanced, at least inpart, by using a linear spring 910 at the base of the base joint 410. Atequilibrium, the following equation is satisfied:

K=(M*g*L)/(a*b),

where

K may be the spring constant of the linear spring 910 that gives therate of force per inch compression (e.g., 52 kg/inch); M may be a mass(e.g., 20 kg) of the support structure 420 plus the FIM 417 at thedistal end of the distal link 440; g is the gravitational constant(g=9.8 m/s²); L may be a distance between the pivot point C and thecenter of the output bevel gear 630, to which the FIM 417 is coupled;“b” may be a distance between the pivot point C and the linear spring910; and “a” may be a distance between the linear spring 910 and ananchor point.

As the distal link 440 progressively extends out from channel 435 of theproximal link 430, the distance L varies (i.e., increases) while Kremains constant. As a result, the above equation no longer remainssatisfied and the equilibrium at the pivot point C is lost. To maintainthe equilibrium, the effects of the variation in distance L should beaddressed. The present disclosure provides a counterweight block 920(which may also be a counterweight balance and/or a slidingcounterweight mechanism) for this purpose. In various embodiments, amass of the counterweight block 920 may be substantially equal to themass of the FIM 417 plus the support structure 420. For example, aweight of the counterweight block 920 may be substantially the same asthe weight of the FIM 417 plus the support structure 420.

At equilibrium, the counterweight block 920 may be placed proximal tothe FIM 417 (which is connected to the distal support 450). As thedistal link 440 progressively extends out from the channel 435 of theproximal link 430 and the distance L increases, a counterbalancemechanism is provided that shifts or moves the counterweight block 920towards the pivot point C. This enables the effective mass (M) to remainthe same as at equilibrium, thereby nullifying the effects of theincrease in L. In various embodiments, the distance by which thecounterweight block 920 is shifted is substantially equal to thedistance by which L is increased. In other words, the distance by whichthe counterweight block 920 is shifted is substantially equal to thedistance by which the distal link 440 extends from or retracts withinchannel 435 of the proximal link 430. Because the mass of thecounterweight block 920 is substantially equal to the mass of the FIM417 plus the support structure 420, and because the counterweight block920 is moved by a distance equal to the increase in L, the effects ofgravity on the movement of the FIM 417 and the support structure 420 arenullified, and equilibrium at the pivot point C is maintained.

The mechanisms that allow movement of the counterweight block 920 willnow be described. FIG. 13A shows an exemplary configuration of thesupport structure 420 at equilibrium about the pivot point C, accordingto an embodiment of the present disclosure. As previously discussed, thesupport structure 420 may include the proximal link 430 and the distallink 440. Also, at its distal end, the distal link 440 may be fixedlyconnected to the distal support 450 that is coupled to the FIM 417. Asshown in FIG. 13A, a belt 1010 (which may also be a counterweight belt)may be provided in a pulley structure with pulleys 1060, 1062, 1064,1066 such that the belt 1010 may be divided into an upper portion 1012and a lower portion 1014. In various embodiments, the pulleys 1060,1062, 1064, 1066 may be mounted on or connected to the proximal link430. A section of the upper portion 1012 of the belt 1010 may be fixedlycoupled to the counterweight block 920 at link 1020 such that thecounterweight block 920 moves linearly as the belt 1010 rotates aroundthe pulleys 1060, 1062, 1064, 1066. In various embodiments, thecounterweight block 920 linearly moves towards the pivot point C as thebelt 1010 rotates clockwise, and the counterweight block 920 linearlymoves towards the distal support 450 as the belt 1010 rotatescounter-clockwise. A section of the lower portion 1014 of the belt 1010may be fixedly connected to a telescoping block 1030 at link 1040 suchthat the belt 1010 may rotate as the telescoping block 1030 moveslinearly. In various embodiments, the telescoping block 1030 may befixedly connected to the distal link 440. The belt 1010 may includegrooves on an outer surface of the belt 1010 to mate with teeth providedin links 1020, 1040. The counterweight block 920 may be fixedly coupledto a linear slide provided in the proximal link 430.

FIG. 13B shows an exemplary configuration of the pulley structureaccording to an embodiment of the present disclosure. In variousembodiments, pulleys 1060, 1062 may be coupled to the proximal link 430via a truss component 1070. For instance, a portion of the trusscomponent 1070 may be fixedly attached to the proximal link 430 andanother portion may be attached to axles (not shown) of the pulleys1060, 1062. The truss component 1070 may also include an extendedtubular portion 1072 (which may also be an outer tube), which may housethe tubular member 654. The extended tubular portion 1072 may be rigid,and may act as a cantilever for pulleys 1064, 1066. For example, invarious embodiments, the extended tubular portion 1072 may be fixedlyconnected to a suspension portion 1074, which may be attached to theaxles (not shown) of the pulleys 1064, 1066. In this way, the suspensionportion 1074, and therefore the pulleys 1064, 1066, may be suspended ata distal end of the extended tubular portion 1072, as shown in FIG. 13B.As the distal link 440 extends out from and retracts within the channel435 of the proximal link 430, the pulleys 1060, 1062, 1064, 1066 remainin the channel 435 of the proximal link 430 due to the above connectionsassociated with the truss component 1070, the suspension portion 1074,and the axles of the pulleys 1060, 1062, 1064, 1066.

As the FIM 417 and the distal link 440 extend out from the proximal link430, the telescoping block 1030 extends out of the proximal link 430.Because the telescoping block 1030 is fixedly connected to the lowerportion 1014 of the belt 1010 at link 1040, and the pulleys 1060, 1062,1064, 1066 are fixedly connected to the proximal link 430, the belt 1010rotates in the clockwise direction around the pulleys 1060, 1062, 1064,1066. As a result, the counterweight block 920 (see FIG. 13A), which isfixedly connected to the upper portion 1012 of the belt 1010 at link1020, linearly moves towards the pivot point C along with the clockwiserotation of the belt 1010. Thus, equilibrium is maintained at the pivotpoint C because the mass (or weight) of the counterweight block 920 issubstantially equal to the mass (or weight) of the FIM 417 plus thesupport structure 420, and because the counterweight block 920 is movedby a distance substantially equal to the movement of the FIM 417(increase in L). This allows nullification of the effects of gravity onthe movement of the FIM 417 and the support structure 420.

Similarly, as the distal link 440 retracts within the proximal link 430,the telescoping block 1030 also retracts in the proximal link 430.Because the telescoping block 1030 is fixedly connected to the lowerportion 1014 of the belt 1010 at link 1040, and the pulleys 1060, 1062,1064, 1066 are fixedly connected to the proximal link 430, the belt 1010rotates in the counter-clockwise direction around the pulleys 1060,1062, 1064, 1066. As a result, the counterweight block 920 (see FIG.13A), which is fixedly connected to the upper portion 1012 of the belt1010 at link 1020, linearly moves towards the distal support 450 alongwith the counter-clockwise rotation of the belt 1010. Thus, equilibriumis again maintained at the pivot point C because the mass (or weight) ofthe counterweight block 920 is substantially equal to the mass of theFIM 417 plus the support structure 420, and because the counterweightblock 920 is moved by a distance substantially equal to the movement ofthe FIM 417 (decrease in L). This counterbalancing allows nullificationof the effects of gravity on the movement of the FIM 417 and the supportstructure 420.

FIG. 14 shows another exemplary configuration of the support structure420 at equilibrium about the pivot point C, according to an embodimentof the present disclosure. In various embodiments, the linear movementof the counterweight block 920 may be enabled by motorized rotation ofthe belt 1010. The configuration shown in FIG. 14 is similar to theconfiguration shown in FIG. 13A, but the configuration shown in FIG. 14includes a motor 1130 (instead of the telescoping block 1030) coupled tothe belt 1010 at link 1140 such that the motor 1130 may enable the belt1010 to rotate in the clockwise or the counter-clockwise directions. Themotor 1130 may be powered and controlled by an encoder 1150 electricallyconnected to the motor 1130 via electrical wires 1160.

As the FIM 417 and the distal link 440 extend out from the proximal link430, the encoder 1150 senses the extension of the distal link 440 andcontrols the motor 1130 to allow clockwise rotation of the belt 1010around the pulleys 1060, 1062, 1064, 1066. As a result, thecounterweight block 920, which is fixedly connected to the upper portion1012 of the belt 1010 at link 1020, linearly moves towards the pivotpoint C along with the clockwise rotation of the belt 1010. Thus,equilibrium is maintained at the pivot point C because the mass of thecounterweight block 920 is substantially equal to the mass of the FIM417 plus the support structure 420, and because the counterweight block920 is moved by a distance substantially equal to the movement of theFIM 417 (increase in L). This allows nullification of the effects ofgravity on the movement of the FIM 417 and the support structure 420.

Similarly, as the distal link 440 retracts within the proximal link 430,the encoder 1150 senses the retraction of the distal link 440 andcontrols the motor 1130 to allow counter-clockwise rotation of the belt1010 around the pulleys 1060, 1062, 1064, 1066. As a result, thecounterweight block 920, which is fixedly connected to the upper portion1012 of the belt 1010 at link 1020, linearly moves towards the distalsupport 450 along with the counter-clockwise rotation of the belt 1010.Thus, equilibrium is again maintained at the pivot point C because themass of the counterweight block 920 is substantially equal to the massof the FIM 417 plus the support structure 420, and because thecounterweight block 920 is moved by a distance substantially equal tothe movement of the FIM 417 (decrease in L). Again, this allowsnullification of the effects of gravity on the movement of the FIM 417and the support structure 420.

FIG. 18 is a flowchart illustrating a general method 1700 for use in animage guided surgical procedure. At a process 1702, pre-operative orintra-operative image data is obtained from imaging technology such as,computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopy,thermography, ultrasound, optical coherence tomography (OCT), thermalimaging, impedance imaging, laser imaging, or nanotube X-ray imaging.The pre-operative or intra-operative image data may correspond totwo-dimensional, three-dimensional, or four-dimensional (including e.g.,time based or velocity based information) images. For example, the imagedata may represent the human lungs 201 of FIG. 7.

At a process 1704, computer software alone or in combination with manualinput is used to convert the recorded images into a segmented twodimensional or three dimensional composite representation or model of apartial or an entire anatomical organ or anatomical region. Thecomposite representation and the image data set describe the variouslocations and shapes of the passageways and their connectivity. Morespecifically, during the segmentation process the images are partitionedinto segments or elements (e.g., pixels or voxels) that share certaincharacteristics or computed properties such as color, density,intensity, and texture. This segmentation process results in a two- orthree-dimensional reconstruction that forms a model of the targetanatomy based on the obtained image. To represent the model, thesegmentation process may delineate sets of voxels representing thetarget anatomy and then apply a function, such as marching cubefunction, to obtain a 3D surface that encloses the voxels. Thissegmentation process results in a two- or three-dimensionalreconstruction that forms a model of the target anatomy based on theobtained image. To represent the model, the segmentation process maydelineate sets of voxels representing the target anatomy and then applya function, such as marching cube function, to obtain a 3D surface thatencloses the voxels. Additionally or alternatively, the model mayinclude a centerline model that includes a set of interconnected linesegments or points extending through the centers of the modeledpassageways. Where the model includes a centerline model including a setof interconnected line segments, those line segments may be converted toa cloud or set of points. By converting the line segments, a desiredquantity of points corresponding to the interconnected line segments canbe selected manually or automatically.

At a process 1706, the anatomic model data is registered to the patientanatomy prior to and/or during the course of an image-guided surgicalprocedure on the patient. Generally, registration involves the matchingof measured point to points of the model through the use of rigid and/ornon-rigid transforms. Measured points may be generated using landmarksin the anatomy, electromagnetic coils scanned and tracked during theprocedure, or a shape sensor system. The measured points may begenerated for use in an iterative closest point (ICP) techniquedescribed elsewhere in this disclosure. Other point set registrationmethods may also be used in registration processes within the scope ofthis disclosure.

Registration methods for use with image-guided surgery often involve theuse of technologies based on electromagnetic or impedance sensing.Metallic objects or certain electronic devices used in the surgicalenvironment may create disturbances that impair the quality of thesensed data. Other methods of registration may obstruct the clinicalworkflow. The systems and methods described below perform registrationbased upon ICP, or another point set registration algorithm, and thecalibrated movement of a point gathering instrument with a fiber opticshape sensor, thus eliminating or minimizing disruptions in the surgicalenvironment. Other registration techniques may be used to register a setof measured points to a pre-operative model or a model obtained usinganother modality. In the embodiments described below, EM sensors on thepatient and the instrument and optical tracking systems for theinstrument may be eliminated.

Various systems for using sensors to register and display a medicalimplement together with preoperatively recorded surgical images, such asthose from a virtual visualization system, are known. For example U.S.patent application Ser. No. 13/107,562 (filed May 13, 2011)(disclosing“Medical System Providing Dynamic Registration of a Model of anAnatomical Structure for Image-Guided Surgery”), which is incorporatedby reference herein in its entirety, discloses such systems.

Any reference to surgical instruments and surgical methods isnon-limiting as the instruments and methods described herein may be usedfor animals, human cadavers, animal cadavers, portions of human oranimal anatomy, non-surgical diagnosis, industrial systems, and generalteleoperational or teleoperational systems.

Although the systems and methods of this disclosure have been describedfor use in the connected bronchial passageways of the lung, they arealso suited for navigation and treatment of other tissues, via naturalor surgically created connected passageways, in any of a variety ofanatomical systems including the colon, the intestines, the kidneys, thebrain, the heart, the circulatory system, or the like. Also, althoughthe systems and methods of this disclosure have been described inconnection with detecting the precise location of a mass/tumor for thepurposes of conducting a biopsy, the presently disclosed systems andmethods may also be used for purposes of delivering treatment. Forexample, the present systems and methods may be used for deliveringpharmaceutical medication or for delivering radiation treatment toprecise locations in anatomical passageways within a patient's body. Invarious embodiments, the delivery of pharmaceutical medication orradiation treatment may be tele-operatively or automatically performedunder the control of the teleoperated medical system 100 of FIG. 1.

One or more elements in embodiments of the invention may be implementedin software to execute on a processor of a computer system such ascontrol system 112. When implemented in software, the elements of theembodiments of the invention are essentially the code segments toperform the necessary tasks. The program or code segments can be storedin a processor readable storage medium or device that may have beendownloaded by way of a computer data signal embodied in a carrier waveover a transmission medium or a communication link. The processorreadable storage device may include any medium that can storeinformation including an optical medium, semiconductor medium, andmagnetic medium. Processor readable storage device examples include anelectronic circuit; a semiconductor device, a semiconductor memorydevice, a read only memory (ROM), a flash memory, an erasableprogrammable read only memory (EPROM); a floppy diskette, a CD-ROM, anoptical disk, a hard disk, or other storage device, The code segmentsmay be downloaded via computer networks such as the Internet, Intranet,etc.

The processes and displays presented may not inherently be related toany particular computer or other apparatus. The required structure for avariety of these systems will appear as elements in the claims. Inaddition, the embodiments of the invention are not described withreference to any particular programming language. It will be appreciatedthat a variety of programming languages may be used to implement theteachings of the invention as described herein.

While certain exemplary embodiments of the invention have been describedand shown in the accompanying drawings, it is to be understood that suchembodiments are merely illustrative of and not restrictive on the broadinvention, and that the embodiments of the invention not be limited tothe specific constructions and arrangements shown and described, sincevarious other modifications may occur to those ordinarily skilled in theart.

1-25. (canceled)
 26. A support structure for supporting an instrumentmanipulator, the support structure comprising: a proximal link; a distallink, wherein the distal link is configured to extend from the proximallink; a base joint coupling the proximal link of the support structureto a base, wherein the proximal link is configured to rotate about afirst axis associated with the base joint; and a counterbalancemechanism comprising a counterweight block configured to move linearlywithin the support structure, the counterweight block having acounterweight mass to counterbalance a combined mass of the supportstructure and the instrument manipulator as the distal link extends fromthe proximal link.
 27. The support structure of claim 26, wherein thecounterbalance mechanism further comprises a spring coupled to the basejoint.
 28. The support structure of claim 26, wherein the counterweightblock is configured to move by a distance substantially equal to adistance by which the distal link extends from the proximal link. 29-32.(canceled)
 33. The support structure of claim 26, wherein thecounterweight mass is substantially equal to the combined mass of thesupport structure and the instrument manipulator.
 34. The supportstructure of claim 26, wherein the distal link is sized to extend withina channel of the proximal link, and wherein a length of the supportstructure is variable with movement of the distal link within thechannel.
 35. The support structure of claim 26, wherein when the distallink is in a retracted position, the counterweight block is in anextended position.
 36. The support structure of claim 26, wherein whenthe distal link is in an extended position, the counterweight block isin a retracted position.
 37. The support structure of claim 26, whereinthe proximal link includes an input gear, and wherein a pivot point ofthe support structure is positioned at a center of the input gear. 38.The support structure of claim 37, wherein when the distal link is in alink retracted position, the counterweight block is in a counterweightextended position, wherein when the distal link is in a link extendedposition, the counterweight block is in a counterweight retractedposition, and wherein the counterweight block is positioned closer tothe pivot point when the counterweight block is in the counterweightretracted position than when the counterweight block is in thecounterweight extended position.
 39. The support structure of claim 27,wherein when the counterweight block is in an extended position, thespring is in an expanded configuration.
 40. The support structure ofclaim 27, wherein when the counterweight block is in a retractedposition, the spring is in a compressed configuration.
 41. The supportstructure of claim 27, wherein the support structure is coupled to acart, and wherein the spring extends within the cart.
 42. The supportstructure of claim 41, wherein a proximal end of the spring is coupledto the base joint, and wherein a distal end of the spring is coupled tothe cart.
 43. The support structure of claim 27, wherein thecounterweight block is configured to move along an axis that is angledrelative to a longitudinal axis of the spring.
 44. The support structureof claim 26, wherein the distal link is coupled to an instrumentsupport, and wherein the instrument support has an orientation relativeto the base in a first configuration of the support structure.
 45. Thesupport structure of claim 44, wherein the counterbalance mechanismmaintains the orientation of the instrument support relative to the baseas the support structure is moved into a second configuration in whichthe support structure is rotated relative to the base about the firstaxis.
 46. The support structure of claim 26, wherein the distal link iscoupled to an instrument support, wherein the distal link is coupled tothe proximal link via a linkage mechanism, and wherein an orientation ofthe instrument support is maintained relative to the base as the supportstructure is rotated relative to the base about the first axis.
 47. Thesupport structure of claim 26, wherein the proximal link is coupled tothe distal link via a linkage mechanism comprising: an input pulley; anoutput pulley; at least one inner pulley; and a chain, wherein the chainis coupled to an outer edge of the input pulley, an outer edge of theoutput pulley, and an outer edge of the at least one inner pulley. 48.The support structure of claim 47, wherein the at least one inner pulleyis coupled to the counterbalance mechanism.
 49. The support structure ofclaim 47, wherein the linkage mechanism further comprises a second innerpulley, and wherein the at least one inner pulley and the second innerpulley are coupled to the counterbalance mechanism.